diff --git a/demos/processor_imu_solo12.yaml b/demos/processor_imu_solo12.yaml index 14964b20685f70720ed8d21c19ba8cdf66406aac..e55d1546a1f84dbfac0981a8ad45eace9d23d9ff 100644 --- a/demos/processor_imu_solo12.yaml +++ b/demos/processor_imu_solo12.yaml @@ -6,5 +6,5 @@ keyframe_vote: voting_active: true name: Main imu time_tolerance: 0.0005 -type: ProcessorImu +type: ProcessorImu3d unmeasured_perturbation_std: 1.0e-06 diff --git a/demos/solo_imu_kine.cpp b/demos/solo_imu_kine.cpp index e3dd1a8566cefd3f88440534e50ac91e585fd4ec..47b072d546dd28be30ff10278a432a1fd9a10a28 100644 --- a/demos/solo_imu_kine.cpp +++ b/demos/solo_imu_kine.cpp @@ -59,7 +59,7 @@ // IMU #include "imu/sensor/sensor_imu.h" #include "imu/capture/capture_imu.h" -#include "imu/processor/processor_imu.h" +#include "imu/processor/processor_imu_3d.h" #include "imu/factor/factor_imu.h" // BODYDYNAMICS @@ -93,7 +93,7 @@ void printFactorCosts(FrameBasePtr kf_last){ int nb_max_fact_ptf = 4; int nb = 0; for (auto f: kf_last->getFactorList()){ - auto fimu = std::dynamic_pointer_cast<FactorImu>(f); + auto fimu = std::dynamic_pointer_cast<FactorImu3d>(f); if (fimu){ std::cout << std::setprecision(12) << " C_IMU " << sqrt(fimu->cost()) << std::endl; } diff --git a/demos/solo_imu_kine_mocap.cpp b/demos/solo_imu_kine_mocap.cpp index ccee00850f99d59dea3086f1997d59fbd55da712..bc400c38f95c1a596fe0defcfc154b1ae7b5441a 100644 --- a/demos/solo_imu_kine_mocap.cpp +++ b/demos/solo_imu_kine_mocap.cpp @@ -59,7 +59,7 @@ // IMU #include "imu/sensor/sensor_imu.h" #include "imu/capture/capture_imu.h" -#include "imu/processor/processor_imu.h" +#include "imu/processor/processor_imu_3d.h" #include "imu/factor/factor_imu.h" // BODYDYNAMICS diff --git a/demos/solo_imu_mocap.cpp b/demos/solo_imu_mocap.cpp index a8f3934463c9e49ec4e292993f86832998afcc2f..909215597a25f97fbc03e4fb1e120cc9e0a4d98e 100644 --- a/demos/solo_imu_mocap.cpp +++ b/demos/solo_imu_mocap.cpp @@ -59,7 +59,7 @@ // IMU #include "imu/sensor/sensor_imu.h" #include "imu/capture/capture_imu.h" -#include "imu/processor/processor_imu.h" +#include "imu/processor/processor_imu_3d.h" #include "imu/factor/factor_imu.h" // BODYDYNAMICS @@ -562,7 +562,7 @@ int main (int argc, char **argv) { Vector6d pose_err = Vector6d::Zero(); for (auto fac: fac_lst){ if (fac->getProcessor() == proc_imu){ - auto f = std::dynamic_pointer_cast<FactorImu>(fac); + auto f = std::dynamic_pointer_cast<FactorImu3d>(fac); if (f){ imu_err = f->error(); } diff --git a/demos/solo_kine_mocap.cpp b/demos/solo_kine_mocap.cpp index 40d4aa208af3f04d9aa48cda6c5f609659ae6fa2..346bf88854e1a1635fe9b06d9d3f2b8c5bdc59ed 100644 --- a/demos/solo_kine_mocap.cpp +++ b/demos/solo_kine_mocap.cpp @@ -59,7 +59,7 @@ // IMU #include "imu/sensor/sensor_imu.h" #include "imu/capture/capture_imu.h" -#include "imu/processor/processor_imu.h" +#include "imu/processor/processor_imu_3d.h" #include "imu/factor/factor_imu.h" // BODYDYNAMICS diff --git a/demos/solo_real_povcdl_estimation.cpp b/demos/solo_real_povcdl_estimation.cpp index 08d0d967330d7cf51588d139393712551b641889..a29f965004e842926c60a89d80a2bdc37133917b 100644 --- a/demos/solo_real_povcdl_estimation.cpp +++ b/demos/solo_real_povcdl_estimation.cpp @@ -50,7 +50,7 @@ // IMU #include "imu/sensor/sensor_imu.h" #include "imu/capture/capture_imu.h" -#include "imu/processor/processor_imu.h" +#include "imu/processor/processor_imu_3d.h" // BODYDYNAMICS #include "bodydynamics/internal/config.h" diff --git a/include/bodydynamics/factor/factor_force_torque_preint.h b/include/bodydynamics/factor/factor_force_torque_preint.h index 7b2f18aad2afdee5f2deb15c9e726c0108a96ecd..52d3fecd2cef95df9d5b8cd3d1141a391f2f50a2 100644 --- a/include/bodydynamics/factor/factor_force_torque_preint.h +++ b/include/bodydynamics/factor/factor_force_torque_preint.h @@ -225,7 +225,7 @@ inline bool FactorForceTorquePreint::residual(const MatrixBase<D1> & _c1, * b* : a bias * J* : a Jacobian matrix * - * We use the following functions from imu_tools.h: + * We use the following functions from imu_3d_tools.h: * D = betweenStates(x1,x2,dt) : obtain a Delta from two states separated dt=t2-t1 * D2 = plus(D1,T) : plus operator, D2 = D1 (+) T * T = diff(D1,D2) : minus operator, T = D2 (-) D1 diff --git a/include/bodydynamics/math/force_torque_delta_tools.h b/include/bodydynamics/math/force_torque_delta_tools.h index 02589cdca3900677800b7f2784a4604575eecf65..f9aec8ef218281e4a7754eafd6431994f92dcff7 100644 --- a/include/bodydynamics/math/force_torque_delta_tools.h +++ b/include/bodydynamics/math/force_torque_delta_tools.h @@ -18,7 +18,7 @@ // You should have received a copy of the GNU Lesser General Public License // along with this program. If not, see <http://www.gnu.org/licenses/>. /* - * imu_tools.h + * imu_3d_tools.h * * Created on: Feb 17, 2020 * Author: mfourmy diff --git a/test/gtest_factor_force_torque.cpp b/test/gtest_factor_force_torque.cpp index 2953dcb5bae0ba8b9ae8756f57758273bd4ec07f..c9be8d8988081333d49b482e2ca388367023f97e 100644 --- a/test/gtest_factor_force_torque.cpp +++ b/test/gtest_factor_force_torque.cpp @@ -51,7 +51,7 @@ FactorInertialKinematics_2KF_1v_bfix,ZeroMvt: // Imu // #include "imu/internal/config.h" // #include "imu/capture/capture_imu.h" -// #include "imu/processor/processor_imu.h" +// #include "imu/processor/processor_imu_3d.h" // #include "imu/sensor/sensor_imu.h" // BODYDYNAMICS diff --git a/test/gtest_factor_inertial_kinematics.cpp b/test/gtest_factor_inertial_kinematics.cpp index fbe458ecacd97ab5a8b4ce7dbc415cfa2f0a7dc3..7736791ac15db30c670dcbcd0785609b4fd7002b 100644 --- a/test/gtest_factor_inertial_kinematics.cpp +++ b/test/gtest_factor_inertial_kinematics.cpp @@ -51,7 +51,7 @@ FactorInertialKinematics_1KF_1v_bfix,ZeroMvt: // Imu //#include "imu/internal/config.h" //#include "imu/capture/capture_imu.h" -//#include "imu/processor/processor_imu.h" +//#include "imu/processor/processor_imu_3d.h" //#include "imu/sensor/sensor_imu.h" // BODYDYNAMICS diff --git a/test/gtest_processor_force_torque_preint.cpp b/test/gtest_processor_force_torque_preint.cpp index a5310ae4c9cc081707a3816dada1838de984ad49..0fb5a738276e0eb7cddfdf600f4318e668724ea2 100644 --- a/test/gtest_processor_force_torque_preint.cpp +++ b/test/gtest_processor_force_torque_preint.cpp @@ -41,7 +41,7 @@ // IMU #include "imu/sensor/sensor_imu.h" #include "imu/capture/capture_imu.h" -#include "imu/processor/processor_imu.h" +#include "imu/processor/processor_imu_3d.h" // BODYDYNAMICS #include "bodydynamics/internal/config.h" diff --git a/test/gtest_processor_inertial_kinematics.cpp b/test/gtest_processor_inertial_kinematics.cpp index 1fd6469e6d25229dce77fcd01a7c551cdd245113..76166ed026d6b96bc6f6559ba9e87676970f1126 100644 --- a/test/gtest_processor_inertial_kinematics.cpp +++ b/test/gtest_processor_inertial_kinematics.cpp @@ -37,7 +37,7 @@ // Imu #include "imu/internal/config.h" #include "imu/capture/capture_imu.h" -#include "imu/processor/processor_imu.h" +#include "imu/processor/processor_imu_3d.h" #include "imu/sensor/sensor_imu.h" // BODYDYNAMICS